In this semester we had to localize an actual car in its environment to predict whether there would be a collision between the car and pedestrian. To perform this we decided to use the Reach Emlid GPS which is an RTK module giving high accuracy location information. It requires a Base module to be set up as well as a Rover module to ensure high accuracy. This is convenient for us since we already have a static infrastructure to place the Base module. The system is fairly easy to work with and we were able to receive Serial data from the GPS modules with some additional work. The TinyGPS library was invaluable in helping us to parse the NMEA format to extract the latitude and longitude information. This was then published to the infrastructure from the car as explained in the next section.